A valve driving device reduces the volume of the pressure chamber and decreases the energy supplied during driving to open the main valve. As a result of this initial energy, the main valve is lifted by inertial motion. When the main valve is opened (lifted), a first actuating valve is opened, and high-pressure actuating fluid is supplied to the pressure chamber. When in this process the pressure in the pressure chamber falls below the pressure of a low-pressure chamber, a second actuating valve opens independently, and low-pressure actuating fluid is introduced into the pressure chamber. By this means negative pressure in the pressure chamber can be prevented, and the main valve can be held in a lift position equivalent to the initial energy. When the main valve is to be closed, an actuator forcibly opens the second actuating valve. Then, high-pressure actuating fluid in the pressure chamber passes through the second actuating valve, presses and opens a third actuating valve on the downstream side, and is discharged to a path.